In this paper a simple and efficient method for optimum kinematic synt
hesis of multibody systems is presented. The proposed formulation is b
ased on the use of a set of fully Cartesian coordinates. Using the coo
rdinates, the system is described by a set of geometric constraints an
d the design requirements are introduced by a set of functional constr
aints. An objective function is defined and minimized to obtain the va
lues for design parameters. Finally, some planar and three-dimensional
examples are presented that illustrate the application of the method.
(C) 1997 Elsevier Science Ltd.